CN109952517B - Method for determining axis deviation of object detection sensor - Google Patents

Method for determining axis deviation of object detection sensor Download PDF

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Publication number
CN109952517B
CN109952517B CN201780061525.8A CN201780061525A CN109952517B CN 109952517 B CN109952517 B CN 109952517B CN 201780061525 A CN201780061525 A CN 201780061525A CN 109952517 B CN109952517 B CN 109952517B
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sensor
angle
inclination
vehicle
tilt
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CN201780061525.8A
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CN109952517A (en
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野吕觉
可儿博之
大塚秀树
松浦充保
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Denso Corp
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Denso Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • G01B21/24—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes for testing alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B7/31—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The present invention relates to a method for determining an axis deviation of an object detection sensor. A sensor unit (10) is mounted on a vehicle, and the axis deviation of an object detection sensor (11) is determined by the sensor unit being provided with the object detection sensor (11) which uses a first predetermined direction as the detection direction of an object and an inclination sensor (12) which detects an inclination angle which is an inclination relative to a second predetermined direction. A first inclination angle acquisition step is performed in which the sensor unit (10) is arranged so that the first predetermined direction and the second predetermined direction are aligned before the sensor unit (10) is mounted on the vehicle, and the first inclination angle detected by the inclination sensor (12) is acquired from the inclination sensor (12). Next, a second inclination angle acquisition step is performed in which the sensor unit (10) is mounted on the vehicle and a second inclination angle detected by the inclination sensor (12) is acquired from the inclination sensor (12). Finally, an axis deviation determination step is performed for determining whether or not the object detection sensor (11) has an axis deviation based on the first inclination angle and the second inclination angle.

Description

Method for determining axis deviation of object detection sensor
Cross Reference to Related Applications
The present application is based on Japanese application No. 2016-196692, filed 2016, 10, 4, and the contents of which are incorporated herein by reference.
Technical Field
The present disclosure relates to an axis deviation determination method for an object detection sensor.
Background
Conventionally, there is known a driving assistance device that is mounted on a vehicle, detects an object existing in front of or behind the vehicle, and instructs an alarm or automatic braking. In such a driving assistance device, an object in front of or behind the vehicle is detected based on a reflected wave reflected by the object by irradiating the radar with a laser beam or a millimeter wave as a transmission wave, or image data captured by an imaging device. For example, patent literature 1 discloses a travel assist device including a sonar that detects an obstacle existing on a trajectory of a vehicle by an ultrasonic wave when the vehicle moves backward; and a radar that detects an obstacle existing on a trajectory of the vehicle by an electric wave when the vehicle is moving forward.
Patent document 1: japanese laid-open patent publication No. 2012-144162
When an object detection sensor that detects an object existing outside a vehicle, such as a sonar, a radar, or a camera, is mounted on the vehicle, a so-called off-axis in which the detection direction of the object by the object detection sensor is off-set in the horizontal direction or the vertical direction with respect to a predetermined direction may occur. When an object existing outside the vehicle is detected by the object detection sensor in which the axis deviation occurs, the detection position of the object has an error in an amount in which the axis deviation may occur.
Disclosure of Invention
The present disclosure has been made to solve the above-described problems, and a main object thereof is to provide an axis deviation determination method for an object detection sensor, which can accurately determine that an axis deviation has occurred in the object detection sensor when the object detection sensor is mounted on a vehicle.
The present disclosure is a method for determining an axis misalignment of an object detection sensor by mounting a sensor unit on a vehicle, the sensor unit including an object detection sensor that detects an object in a first predetermined direction and an inclination sensor that detects an inclination angle of the object with respect to a second predetermined direction, the method including: a first inclination angle acquisition step of, before the sensor unit is mounted on the vehicle, arranging the sensor unit so that the first predetermined direction and the second predetermined direction are aligned with each other, and acquiring a first inclination angle, which is the inclination angle detected by the inclination sensor, from the inclination sensor; a second inclination angle acquisition step of attaching the sensor unit to the vehicle and acquiring a second inclination angle, which is the inclination angle detected by the inclination sensor, from the inclination sensor; and an axis deviation determination step of determining whether or not the object detection sensor has an axis deviation based on the first inclination angle acquired in the first inclination angle acquisition step and the second inclination angle acquired in the second inclination angle acquisition step.
When a sensor unit including an object detection sensor is mounted on a vehicle, the sensor unit may be mounted at an angle that is offset, and therefore the object detection sensor may be off-axis in which the detection direction of the object detection sensor is inclined in the horizontal direction or the vertical direction with respect to a predetermined direction. When an object is detected by an object detection sensor in which an axis deviation occurs, there is a possibility that an error in the amount of the axis deviation may occur in the detected position of the object.
As a countermeasure, the sensor unit including the object detection sensor further includes an inclination sensor that detects an inclination angle as an inclination with respect to the second predetermined direction. Whether or not the object detection sensor has an axis deviation is determined based on the second inclination angle detected by the inclination sensor.
However, when the tilt sensor is attached to the sensor unit, the positional relationship between the object detection sensor and the tilt sensor in the sensor unit may be deviated from the position to be attached originally, or the like. In this state, even if the second tilt angle is detected by the tilt sensor and it is determined whether or not the axis of the object detection sensor is misaligned based on the detected second tilt angle, there is a possibility that the axis misalignment determination cannot be performed with high accuracy because misalignment of the positional relationship between the object detection sensor and the tilt sensor in the sensor unit is not taken into consideration.
Therefore, before the sensor unit is mounted on the vehicle, the sensor unit is disposed so that the first predetermined direction, which is the detection direction of the object detection sensor, is aligned with the second predetermined direction, and the first inclination angle detected by the inclination sensor in this state is acquired. With this, it is possible to grasp how much the inclination sensor is inclined with respect to the second predetermined direction, with reference to a state in which the detection direction of the object detection sensor is aligned with the second predetermined direction. That is, the inclination of the inclination sensor with respect to the detection direction of the object detection sensor can be grasped. After that, the sensor unit is mounted to the vehicle, and the second inclination angle detected by the inclination sensor at this time is acquired. The second tilt angle acquired at this time is a tilt of the tilt sensor with respect to the second predetermined direction in a state where the sensor unit is mounted on the vehicle. Therefore, in the shaft misalignment determination step, the shaft misalignment of the object detection sensor is determined based on not only the second inclination angle but also the first inclination angle, and thus the shaft misalignment of the object detection sensor can be determined with high accuracy.
Drawings
The above objects, and other objects, features, and advantages of the present disclosure will become more apparent from the following detailed description with reference to the accompanying drawings. In the drawings:
fig. 1 is a schematic configuration diagram of an object detection device according to the present embodiment.
Fig. 2 is a schematic configuration diagram of the sensor unit.
Fig. 3 is a diagram showing a state in which a vehicle is mounted on a horizontal stand.
Fig. 4 is a flowchart showing a procedure of determining the axis misalignment of the ultrasonic sensor according to the present embodiment.
Fig. 5 is a diagram showing the vehicle tilted in the front-rear direction with respect to the horizontal direction.
Fig. 6 is a flowchart showing a procedure of determining the axis misalignment of the ultrasonic sensor according to another example.
Detailed Description
In fig. 1, the object detection device 100 includes a sensor unit 10 and an ECU20.
A plurality of sensor units 10 are mounted on, for example, a bumper of a vehicle, not shown. The bumper is provided at a front end portion and a rear end portion of the vehicle, and four sensor units 10 are arranged in a vehicle width direction for each bumper.
Each of the plurality of sensor units 10 includes an ultrasonic sensor (corresponding to an object detection sensor) 11 and an inclination sensor 12.
The ultrasonic sensor 11 includes a transceiver 11a, a transmission circuit unit 11b, and a reception circuit unit 11c that transmit ultrasonic waves and receive reflected waves reflected from objects present in the vicinity of the vehicle. The transmission circuit unit 11b is electrically connected to the transceiver 11a, and by applying an electric signal to the transceiver 11a at predetermined control cycles, the transceiver 11a transmits ultrasonic waves in a predetermined direction. The receiving circuit unit 11c is electrically connected to the transceiver 11a, and detects a reflected wave received by the transceiver 11a as an electrical signal.
The tilt sensor 12 will be described later.
The ECU20 is electrically connected to the transmission circuit unit 11b and the reception circuit unit 11c. The ECU20 instructs the transmission circuit unit 11b to output an electric signal to the transceiver 11a at predetermined control intervals. On the other hand, the electric signal detected by the receiving circuit unit 11c is received. The magnitude of the signal is proportional to the intensity of the reflected wave, which varies according to the distance between the object present in the vicinity of the host vehicle and the host vehicle. Therefore, the position information of the object existing in the periphery of the own vehicle can be detected based on the magnitude of the electric signal received from the receiving circuit portion 11c. When the position information of the object is detected, the distance from the host vehicle to the object is calculated from the position information of the detected object and the position of the host vehicle.
When the sensor unit 10 described above is mounted on a vehicle, since the mounting angle of the sensor unit 10 is deviated, so-called axial deviation may occur in the ultrasonic sensor 11 in which the detection direction of the ultrasonic sensor 11 is inclined in the horizontal direction or the vertical direction with respect to a predetermined direction. When an object is detected by the ultrasonic sensor 11 that has an axis misalignment, an error in the amount of the axis misalignment may occur in the detected position of the object.
As a countermeasure for this, the sensor unit 10 provided with the ultrasonic sensor 11 is further provided with an inclination sensor 12 that detects an inclination angle that is an inclination with respect to the horizontal direction (horizontal plane). The horizontal direction herein means a direction perpendicular to the direction in which gravity acts. The tilt sensor 12 is a known 2-axis tilt sensor that detects the tilt in the horizontal direction by resolving the tilt into rotation angles with respect to two axes (X0 axis and Y0 axis) orthogonal to each other. The rotation angle around the X0 axis (referred to as a roll angle θ r) detected by the tilt sensor 12 indicates the tilt angle of the vehicle body in the vehicle width direction, and the rotation angle around the Y0 axis (referred to as a pitch angle θ p) indicates the tilt angle of the vehicle body in the front-rear direction. Further, the 2-axis tilt sensor may be implemented using a 3-axis acceleration sensor, or may be implemented by combining a vibrator and a magnetic sensor.
As shown in fig. 2, the sensor unit 10 is configured by mounting the inclination sensor 12 on the same substrate 13 as the substrate 13 on which the ultrasonic sensor 11 is mounted. Therefore, when the sensor unit 10 is mounted on the vehicle and the mounting angle of the sensor unit 10 is deviated, the ultrasonic sensor 11 and the inclination sensor 12 mounted on the same substrate 13 are inclined to the same degree. Therefore, the ECU20 can determine whether or not the ultrasonic sensor 11 has generated an axis deviation based on the roll angle θ r or the pitch angle θ p detected by the tilt sensor 12 when the sensor unit 10 is mounted on the vehicle.
However, when the tilt sensor 12 is mounted on the substrate 13, the positional relationship between the ultrasonic sensor 11 and the tilt sensor 12 in the sensor unit 10 may be deviated from the position to be originally mounted. In this case, it is assumed that the inclination of the inclination sensor 12 with respect to the detection direction of the ultrasonic sensor 11 is deviated from a previously assumed value (design value). Therefore, since it is determined whether or not the ultrasonic sensor 11 has deviated from the axis based on the inclination angle detected by the inclination sensor 12 when the sensor unit 10 is mounted on the vehicle, the deviation of the inclination sensor 12 with respect to the detection direction of the ultrasonic sensor 11 due to the deviation of the positional relationship between the ultrasonic sensor 11 and the inclination sensor 12 in the sensor unit 10 is not considered, there is a possibility that the axis deviation determination with high accuracy cannot be performed.
In view of the above, the axis deviation determination control executed by the ECU20 includes a first inclination angle acquisition step, an abnormality determination step, a second inclination angle acquisition step, and an axis deviation determination step.
First, in the first tilt angle acquisition step, before the sensor unit 10 is mounted on the vehicle, the sensor unit 10 is disposed so that the detection direction (first predetermined direction) of the ultrasonic sensor 11 is aligned with the horizontal direction (second predetermined direction), and in this state, the tilt sensor 12 detects the roll angle θ r and the pitch angle θ p as the first tilt angle. This makes it possible to grasp how much the detection axis of the tilt sensor 12 is deviated from the horizontal direction with reference to a state in which the detection direction of the ultrasonic sensor 11 is aligned with the horizontal direction. That is, the inclination of the inclination sensor 12 with respect to the detection direction of the ultrasonic sensor 11 can be grasped.
However, as described above, when the tilt sensor 12 is mounted on the substrate 13, the positional relationship between the ultrasonic sensor 11 and the tilt sensor 12 in the sensor unit 10 may be displaced, for example, by being mounted at a position displaced from the position at which the tilt sensor 12 should be mounted. If the magnitude of the deviation in the positional relationship between the ultrasonic sensor 11 and the tilt sensor 12, which occurs when the tilt sensor 12 is mounted on the substrate 13, is small, it is possible to adjust the deviation in the tilt of the tilt sensor 12 with respect to the detection direction of the ultrasonic sensor 11, which is caused by the deviation in the positional relationship between the ultrasonic sensor 11 and the tilt sensor 12 in the sensor unit 10, when the sensor unit 10 is mounted on the vehicle. However, there is a limit to the size of the offset that can be adjusted, and if the size of the offset that occurs when the tilt sensor 12 is mounted on the base plate 13 is larger than the upper limit value of the size of the offset that can be adjusted, there is a possibility that adjustment that takes into account the size of the offset cannot be performed when the sensor unit 10 is mounted on a vehicle.
Therefore, the abnormality determination step is performed when the first inclination angle acquisition step is performed. In the abnormality determining step, it is determined whether or not the first inclination angle acquired from the inclination sensor 12 by the first inclination angle acquiring step is larger than a threshold value. Specifically, it is determined whether or not the roll angle θ r acquired by the first inclination angle acquisition step is larger than a first threshold value. In addition, it is determined whether or not the pitch angle θ p acquired by the first tilt angle acquisition step is larger than a second threshold value. When at least one of the determinations is determined to be an affirmative determination, it is determined in the abnormality determining step that the positional relationship between the ultrasonic sensor 11 and the tilt sensor 12 in the sensor unit 10 is abnormal. Accordingly, it can be determined that the deviation of the inclination sensor 12 with respect to the detection direction of the ultrasonic sensor 11, which is caused by the deviation of the positional relationship between the ultrasonic sensor 11 and the inclination sensor 12 in the sensor unit 10, which is generated when the inclination sensor 12 is mounted on the substrate 13, is large enough to be unadjustable when the sensor unit 10 is mounted on the vehicle.
In the second inclination angle acquisition step, the sensor unit 10 that has acquired the first inclination angle in the first inclination angle acquisition step is mounted on the vehicle, and the roll angle θ r and the pitch angle θ p detected by the tilt sensor 12 at this time are acquired as the second inclination angle. The roll angle or pitch angle θ r or θ p acquired in the second tilt angle acquisition step is the tilt of the tilt sensor 12 with respect to the horizontal direction (horizontal plane) in a state where the sensor unit 10 is mounted on the vehicle.
However, when the vehicle is driven, the sensor unit 10 mounted on the vehicle vibrates with the vibration of the engine, and there is a possibility that an error occurs in the second inclination angle detected by the inclination sensor 12 due to the influence of the vibration. In addition, when the second inclination angle is detected by the inclination sensor 12 in a state where the vehicle is inclined, there is a possibility that an error in the inclination amount of the vehicle may be generated in the detected second inclination angle. Therefore, the second inclination angle acquisition step is performed while the vehicle is kept horizontal by stopping the vehicle and placing the vehicle on the horizontal table as shown in fig. 3.
In the shaft misalignment determination step, it is determined whether or not shaft misalignment of the ultrasonic sensor 11 occurs based on the first inclination angle acquired by the first inclination angle acquisition step and the second inclination angle acquired by the second inclination angle acquisition step. Specifically, it is determined whether or not a first detection direction angle a, which is the sum of the roll angle θ r obtained in the first inclination angle obtaining step and the roll angle θ r obtained in the second inclination angle obtaining step, is within a first predetermined range. It is determined whether or not the first detection directional angle b, which is the sum of the pitch angle θ p obtained in the first tilt angle obtaining step and the pitch angle θ p obtained in the second tilt angle obtaining step, falls within a second predetermined range.
The first detection direction angles a and b are both values obtained by adding a first inclination angle, which is an inclination of the inclination sensor 12 with respect to the detection direction of the ultrasonic sensor 11, to a second inclination angle, which is an inclination of the inclination sensor 12 with respect to the horizontal direction (horizontal plane) in a state where the sensor unit 10 is mounted on the vehicle. Therefore, by determining whether or not the first detection direction angle a is within the first predetermined range and whether or not the first detection direction angle b is within the second predetermined range, it is possible to grasp whether or not the detection direction of the ultrasonic sensor 11 is inclined with respect to the horizontal direction in a state where the sensor unit 10 is mounted on the vehicle. More specifically, when it is determined that the first detection direction angle a does not fall within the first predetermined range, it can be grasped that the detection direction of the ultrasonic sensor 11 is inclined beyond the allowable range in the vehicle width direction of the vehicle body with respect to the horizontal direction. When it is determined that the first detection direction angle b does not fall within the second predetermined range, it can be grasped that the detection direction of the ultrasonic sensor 11 is inclined beyond the allowable range in the front-rear direction of the vehicle body with respect to the horizontal direction.
In the present embodiment, the ECU20 performs the off-axis determination of the ultrasonic sensor 11 described later with reference to fig. 4. The off-axis determination of the ultrasonic sensor 11 shown in fig. 4 is performed when the sensor unit 10 including the ultrasonic sensor 11 and the inclination sensor 12 is mounted on a vehicle. The installation of the tilt sensor 12 (S100), the arrangement of the sensor unit (S110), and the installation of the sensor unit (S140) are performed by an operator, an assembly machine, or the like.
First, in step S100, the sensor unit 10 is configured by mounting the inclination sensor 12 on the substrate 13 on which the ultrasonic sensor 11 is mounted. In step S110, the sensor unit 10 is disposed so that the detection direction of the ultrasonic sensor 11 is aligned with the horizontal direction. In step S120, the roll angle θ r and the pitch angle θ p detected by the tilt sensor 12 provided in the sensor unit 10 are acquired as the first tilt angle.
It is determined in step S130 whether the roll angle θ r acquired in step S120 is greater than a first threshold value. In addition, it is determined whether or not the pitch angle θ p acquired by the first tilt angle acquisition step is larger than a second threshold value. If at least one of the determinations of both is determined to be an affirmative determination in step S130 (yes in S130), the process returns to step S100. Then, in S100, the mounting position of the tilt sensor 12 is corrected (adjusted). If both determinations are negative determinations in step S130 (no in S130), the process proceeds to step S140.
In step S140, the sensor unit 10 is mounted on the vehicle that is placed on a horizontal table and stopped. In step S150, the roll angle θ r and the pitch angle θ p detected by the tilt sensor 12 provided in the sensor unit 10 are acquired as the second tilt angle. In step S160, a first detection direction angle a is calculated, which is the sum of the roll angle θ r obtained as the first inclination angle from the inclination sensor 12 in step S120 and the roll angle θ r obtained as the second inclination angle from the inclination sensor 12 in step S150. Similarly, a first detection direction angle b, which is the sum of the pitch angle θ p obtained as the first tilt angle from the tilt sensor 12 and the pitch angle θ p obtained as the second tilt angle from the tilt sensor 12 in step S150, is calculated in step S120.
In step S170, it is determined whether or not the first detection direction angle a calculated in step S150 converges within a first predetermined range. It is determined whether or not the first detection direction angle b calculated in step S150 falls within a second predetermined range. If at least one of the determinations is a negative determination (no in S170), the process returns to step S140. Then, in S140, the mounting position of the sensor unit 10 is corrected (adjusted). If both the determinations are affirmative determinations (yes in S170), the control is terminated.
With the above configuration, the present embodiment achieves the following effects.
The inclination of the inclination sensor 12 with respect to the detection direction of the ultrasonic sensor 11 can be grasped from the roll angle θ r and the pitch angle θ p acquired as the first inclination angle. Further, the inclination of the inclination sensor 12 with respect to the horizontal direction in the state in which the sensor unit 10 is mounted on the vehicle can be grasped from the roll angle θ r and the pitch angle θ p acquired as the second inclination angle. Therefore, it is possible to determine the axis misalignment of the ultrasonic sensor 11 with respect to the vehicle width direction of the horizontal vehicle body by determining whether or not the first detection direction angle a, which is the sum of the roll angle θ r as the first inclination angle and the roll angle θ r as the second inclination angle, has converged within the first predetermined range. Further, by determining whether or not the first detection direction angle b, which is the sum of the pitch angle θ p as the first inclination angle and the pitch angle θ p as the second inclination angle, is within the second predetermined range, it is possible to determine the axial displacement of the ultrasonic sensor 11 in the front-rear direction of the vehicle body with respect to the horizontal direction.
By acquiring the second inclination angle in the second inclination angle acquisition step while the vehicle is stopped, it is possible to suppress an error in the detected second inclination angle due to vibration of the vehicle, and further, it is possible to perform determination with higher accuracy.
The second inclination angle acquisition step acquires the second inclination angle from the inclination sensor 12 on the condition that the vehicle is kept horizontal. Thereby, the second inclination angle can be suppressed from generating an error in the amount by which the vehicle is inclined.
The above embodiment can be modified and implemented as follows.
In the above embodiment, the sensor unit 10 includes the ultrasonic sensor 11 as a sensor for detecting an object. On the other hand, if the sensor is a sensor for detecting an object, the sensor is not limited to the ultrasonic sensor 11, and may be a laser radar, a millimeter wave radar, or a camera.
In the above embodiment, the ultrasonic sensor 11 and the tilt sensor 12 are mounted on the same substrate 13. On the other hand, the ultrasonic sensor 11 and the inclination sensor 12 may not necessarily be mounted on the substrate 13, and may be mounted on the housing of the sensor unit 10.
In the above embodiment, the second inclination angle acquisition step is performed while the vehicle is stopped. In contrast, the second inclination angle acquisition step may be performed while the vehicle is being driven.
In the above embodiment, the abnormality determination step is performed when the first inclination angle is acquired from the inclination sensor 12 in the first inclination angle acquisition step. In contrast, the abnormality determining step is not necessarily performed.
In the above embodiment, the roll angle θ r and the pitch angle θ p are acquired from the tilt sensor 12 in both the first tilt angle acquisition step and the second tilt angle acquisition step. In contrast, it is not necessary to acquire both the roll angle θ r and the pitch angle θ p, and one of the roll angle θ r and the pitch angle θ p may be acquired. In other words, when assuming a configuration in which only the roll angle θ r is acquired in the first tilt angle acquisition step and the second tilt angle acquisition step, the axis deviation determination step determines whether or not only the first detection direction angle a, which is the sum of the roll angle θ r acquired in the first tilt angle acquisition step and the roll angle θ r acquired in the second tilt angle acquisition step, is within the first predetermined range.
The inclination sensor 12 is not limited to detecting the inclination angle as the inclination with respect to the horizontal direction (horizontal plane), and may detect the inclination angle as the inclination with respect to the inclination direction (inclined plane) inclined with respect to the horizontal direction (horizontal plane). In this case, in the first inclination angle acquisition step, before the sensor unit 10 is mounted on the vehicle, the sensor unit 10 is disposed so that the detection direction (first predetermined direction) of the ultrasonic sensor 11 is aligned with the inclination direction (second predetermined direction), and the first inclination angle is detected by the inclination sensor 12 in this state.
Assume a case where a plurality of sensor units 10 have been mounted on a vehicle. In this case, when the tilt sensor 12 provided in one sensor unit 10 among the plurality of sensor units 10 mounted on the vehicle is broken down, the sensor unit 10 provided with the broken-down tilt sensor 12 needs to be replaced. In the replacement work of the sensor unit 10 to be replaced, the sensor unit 10 is removed from the vehicle, and the sensor unit 10 having measured the first tilt angle is mounted on the vehicle. When the sensor unit 10 is mounted on a vehicle, the mounting angle of the sensor unit 10 may deviate. Therefore, when the sensor unit 10 is replaced, it is preferable to perform the axis deviation determination of the object detection sensor by the axis deviation determination step.
However, the replacement of the sensor unit 10 is not necessarily performed in a factory on the factory floor, and if the replacement of the sensor unit 10 is performed in a factory where there is no horizontal stand, it is conceivable to perform the replacement of the sensor unit 10 in a state where the vehicle is inclined, as shown in fig. 5, depending on the angle of the road surface. In this case, since the second tilt angle detected by the tilt sensor 12 causes an error in the tilt angle amount of the vehicle (in the case of fig. 5, an error occurs in the pitch angle θ p detected as the second tilt angle), even when the ultrasonic sensor 11 does not cause the shaft misalignment, it may be erroneously determined that the ultrasonic sensor 11 causes the shaft misalignment at the time of the shaft misalignment determination of the ultrasonic sensor 11.
In view of the above, when the replacement work of the sensor unit 10 already mounted on the vehicle is performed, the following shaft misalignment determination control is performed. The shaft deviation determination control includes an inclination correction angle calculation step, a third inclination angle acquisition step, and a shaft deviation determination step.
First, in the inclination correction angle calculation step, the inclination correction angle θ v of the vehicle is calculated before the replacement work of the sensor unit 10 is performed. Here, the inclination correction angle θ v of the vehicle is deduced by calculating the difference (θ 20- θ 21) between the second inclination angle θ 20 acquired in the second inclination angle acquisition step and the current second inclination angle θ 21 acquired from the inclination sensor 12 when the sensor unit 10 is first mounted on the vehicle in the sensor unit 10 other than the sensor unit 10 to be replaced. More specifically, in the sensor unit 10 other than the sensor unit 10 to be replaced, the corrected pitch angle θ vp of the vehicle is calculated from the difference (θ p20- θ p 21) between the pitch angle θ p20 acquired in the second tilt angle acquisition step when the sensor unit 10 is first mounted on the vehicle and the current pitch angle θ p21 acquired from the tilt sensor 12. In the sensor unit 10 other than the sensor unit 10 to be replaced, the corrected roll angle θ vr of the vehicle is calculated from the difference (θ p30- θ p 31) between the roll angle θ r30 acquired in the second roll angle acquisition step and the current roll angle θ r31 acquired from the inclination sensor 12 when the sensor unit 10 is first mounted on the vehicle.
Next, in the third inclination angle acquisition step, the sensor unit 10 that has measured the first inclination angle is attached to the vehicle instead of the sensor unit 10 that is the object of replacement, and the roll angle θ r and the pitch angle θ p detected by the inclination sensor 12 provided in the sensor unit 10 after replacement are acquired from the inclination sensor 12 as the third inclination angle.
In the shaft misalignment determination step, it is determined whether or not the shaft misalignment of the ultrasonic sensor 11 occurs with respect to the sensor unit 10 after replacement, based on the tilt correction angle θ v of the vehicle calculated in the tilt correction angle calculation step, the measured first tilt angle, and the third tilt angle acquired in the third tilt angle acquisition step. Specifically, it is determined whether or not a value obtained by adding a corrected roll angle θ vr of the vehicle to a second detected direction angle c that sets the sum of the roll angle θ r that has been measured as the first inclination angle and the roll angle θ r acquired by the third inclination angle acquisition step falls within a first predetermined range. Further, it is determined whether or not a value obtained by adding the corrected pitch angle θ vp of the vehicle to a second detected direction angle d, which is the sum of the pitch angle θ p measured as the first tilt angle and the pitch angle θ p acquired in the third tilt angle acquisition step, falls within a second predetermined range. When it is determined that the value obtained by adding the corrected roll angle θ vr of the vehicle to the second detected direction angle c does not fall within the first predetermined range or that the value obtained by adding the corrected pitch angle θ vp of the vehicle to the second detected direction angle d does not fall within the second predetermined range, it is determined that the ultrasonic sensor 11 is off-axis.
In another example, the ECU20 performs the determination of the off-axis of the ultrasonic sensor 11 described in fig. 6, which will be described later. In a vehicle in which a plurality of sensor units 10 are mounted, the off-axis determination of the ultrasonic sensor 11 shown in fig. 6 is performed when one of the sensor units 10 is replaced. The selection of the normal sensor unit 10 is performed (S200), and the replacement of the sensor unit 10 is performed by an operator, an assembly machine, or the like (S220).
First, in step S200, a normal sensor unit 10 that is not the replacement object is selected. Then, in step S210, the corrected roll angle θ vr of the vehicle is calculated from the difference (θ p20- θ p 21) between the roll angle θ r20, which is the second roll angle acquired through the second roll angle acquisition process when the sensor unit 10 is initially mounted, and the current roll angle θ r21 detected by the sensor unit 10 selected in step S200. The corrected pitch angle θ vp of the vehicle is calculated from the difference (θ p30- θ p 31) between the pitch angle θ p30, which is the second tilt angle acquired in the second tilt angle acquisition step when the sensor unit 10 is first mounted, and the current pitch angle θ p31 detected by the sensor unit 10 selected in step S200.
In step S220, the sensor unit 10 that has measured the first tilt angle is attached to the vehicle instead of the sensor unit 10 that is the replacement target. In step S230, the roll angle θ r and the pitch angle θ p detected by the inclination sensor 12 provided in the replaced sensor unit 10 are acquired from the inclination sensor 12 as the third inclination angle. In step S240, a second detected direction angle c is calculated, which is set as the sum of the roll angle θ r that has been measured as the first inclination angle and the roll angle θ r acquired in step S230. Further, a second detection direction angle d is calculated which is the sum of the pitch angle θ p that has been measured as the first tilt angle and the pitch angle θ p acquired by the third tilt angle acquisition step. In step S250, the corrected roll angle θ vr of the vehicle calculated in step S210 is added to the second detected direction angle c calculated in step S240, and the second detected direction angle c is corrected. The corrected pitch angle θ vp of the vehicle calculated in step S210 is added to the second detected direction angle d calculated in step S240, and the second detected direction angle d is corrected.
In step S260, it is determined whether or not the second detection direction angle c corrected in step S250 falls within a first predetermined range. It is determined whether or not the second detection direction angle d corrected in step S250 falls within a second predetermined range. If at least one of the determinations is a negative determination (no in S260), the process returns to step S220. Then, in S220, the mounting position of the sensor unit 10 is corrected (adjusted). If both determinations are affirmative determinations (yes in S260), the control is terminated.
By performing the axle deviation determination of the present further example, when the replacement operation of the sensor unit 10 is performed in a situation where the vehicle is inclined along the inclination of the road surface, it is possible to suppress a decrease in the accuracy of the axle deviation determination of the ultrasonic sensor 11.
The present disclosure has been described in terms of embodiments, but it is to be understood that the present disclosure is not limited to the embodiments, constructions, and so forth. The present disclosure also includes various modifications and modifications within the equivalent scope. In addition, various combinations and modes, and further, other combinations and modes including only one element, more or less, in these combinations and modes also fall within the scope and idea of the present disclosure.

Claims (6)

1. An off-axis determination method for an object detection sensor, which determines an off-axis of the object detection sensor by attaching a sensor unit (10) to a vehicle, the sensor unit including an object detection sensor (11) having a first predetermined direction as a detection direction of an object and an inclination sensor (12) detecting an inclination angle as an inclination with respect to a second predetermined direction, the off-axis determination method for the object detection sensor comprising:
a first inclination angle acquisition step of, before the sensor unit is mounted on the vehicle, arranging the sensor unit so that the first predetermined direction and the second predetermined direction are aligned with each other, and acquiring the inclination angle detected by the inclination sensor from the inclination sensor as a first inclination angle;
a second tilt angle acquisition step of mounting the sensor unit on the vehicle and acquiring the tilt angle detected by the tilt sensor from the tilt sensor as a second tilt angle; and
an axis deviation determination step of determining whether or not the object detection sensor has an axis deviation based on the first inclination angle acquired in the first inclination angle acquisition step and the second inclination angle acquired in the second inclination angle acquisition step.
2. The axis deviation determination method of an object detection sensor according to claim 1,
in the shaft misalignment determination step, it is determined that the object detection sensor has a shaft misalignment when a first detection direction angle, which is a sum of the first inclination angle and the second inclination angle, does not fall within a predetermined range.
3. The axis deviation determination method of an object detection sensor according to claim 1 or 2,
an abnormality determination step of determining that the positional relationship between the object detection sensor and the tilt sensor in the sensor unit is abnormal, on condition that the first tilt angle acquired in the first tilt angle acquisition step is larger than a threshold value, before the sensor unit is mounted on the vehicle, is provided.
4. The method for determining the axis deviation of an object detection sensor according to claim 1 or 2, which is performed when the sensor unit is replaced,
the method for determining the axis deviation of the object detection sensor includes:
an inclination correction angle calculation step of calculating, as an inclination correction angle of the vehicle, a difference between the second inclination angle acquired by the second inclination angle acquisition step when the sensor unit is first mounted on the vehicle and the current second inclination angle acquired from the inclination sensor, in the sensor unit other than the sensor unit to be replaced; and
a third tilt angle acquisition step of attaching the sensor unit that has measured the first tilt angle to the vehicle in place of the sensor unit that is the object of replacement, and acquiring the tilt angle detected by the tilt sensor included in the sensor unit after replacement as a third tilt angle from the tilt sensor,
in the shaft misalignment determination step, it is determined that the object detection sensor has a shaft misalignment when a value obtained by adding the tilt correction angle to a second detection direction angle that is a sum of the measured first tilt angle and the third tilt angle does not fall within a predetermined range.
5. The axis deviation determination method of an object detection sensor according to claim 1 or 2,
in the second inclination angle acquisition step, the second inclination angle is acquired from the inclination sensor on the condition that the vehicle is stopped.
6. The axis deviation determination method of an object detection sensor according to claim 1 or 2,
in the second inclination angle acquisition step, the second inclination angle is acquired from the inclination sensor on the condition that the vehicle is kept horizontal.
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